The coordination control of multiple Underactuated Underwater Vehicles (UUVs) moving in three dimensional space is investigated in this paper. The coordinated path following control task is decomposed into two sub tasks, that is, path following control and coordination control. In the spatial curve path following control task, path following error dynamics is build in the Serret-Frenet coordinate frame. The virtual reference object can be chosen freely on the desired spatial path. Considering the speed of the UUV, the line-of-sight navigation is introduced to help the path following errors quickly converge to zero. In the coordination control sub task, the communication topology of multiple UUVs is described by the graph theory. The speed of each UUV is adjusted to achieve the coordination. The path following system and the coordination control system are viewed as the feedback connection system. Input-to-state stable of the coordinated path following system can be proved by small gain theorem. The simulation experiments can further demonstrate the good performance of the control method.

研究了在三维空间中运动的多个水下驱动水下机器人的协调控制。协调路径跟随控制任务被分解为两个子任务，即路径跟随控制和协调控制。在空间曲线路径跟随控制任务中，路径跟随误差动态建立在Serret-Frenet坐标系中。可以在所需空间路径上自由选择虚拟参考对象。考虑到UUV的速度，引入了视线导航以帮助跟踪误差的路径迅速收敛到零。在协调控制子任务中，通过图论描述了多个UUV的通信拓扑。调整每个UUV的速度以实现协调。路径跟随系统和协调控制系统被视为反馈连接系统。小增益定理可以证明协调路径跟随系统的输入状态稳定。仿真实验可以进一步证明该控制方法的良好性能。